The paper illustrate a way to set up a Prestressed High strength Concrete (PHC) pipe pile driving control system on the basis of wave theory. The system includes three aspects, such as simulation calculation, monitoring, adjustment. The procedure of the system has four steps, including input, output, feedback, adjustment. All these build up a half closed loop control system. The consequence of application at a large, super-long PHC pipe pile driving in offshore shows that the system can enhance the efficiency and reliability of the pile driving. With the control system, the pile ultimate bearing capacity after driven can be guaranteed to meet request finally.